Path Tracking with Obstacle Avoidance for Pseudo-Omnidirectional Mobile Robots Using Convex Optimization

Berntorp, Karl (author): Lund University,Lunds universitet,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH

Olofsson, Björn (author): Lund University,Lunds universitet,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH

Robertsson, Anders (author): Lund University,Lunds universitet,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH

Alessandro, Astolfi (editor)

(creator_code:org_t)

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Abstract Subject headings

We consider the problem of trajectory generation for time-optimal path tracking for the class of pseudo-omnidirectional mobile robots. An Euler-Lagrange model of the robot dynamics is derived, and by writing it on special form a convex reformulation of the path-tracking problem can be utilized. This enables the use and regeneration of time-optimal trajectories during runtime. The proposed approach also incorporates avoidance of moving obstacles, which are unknown a priori. Using sensor data, objects along the desired path are detected. Subsequently, a new path is planned and the corresponding time-optimal trajectory is found. The robustness of the method and its sensitivity to model errors are analyzed and discussed with extensive simulation results. Moreover, we verify the approach by successful execution on a physical setup.

By the author/editor: Berntorp, Karl; Olofsson, Björn; Robertsson, Ande ...; Alessandro, Asto ...

About the subject

ENGINEERING AND TECHNOLOGY: ENGINEERING AND ...; and Electrical Engin ...; and Control Engineer ...

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